Digital Twin-Driven Virtual Control Technology of Home-Use Robot: Human-Cyber-Physical System

摘要

Aiming to solve the remote intelligent control problem of the robot, an interactive mechanism of “human-cyber-physical systems” (HCPS) is proposed to achieve deep integration and an interface between the physical and virtual spaces. In this article, we proposed a digital twin (DT)-driven intelligent control system for robots to work in the home for stabilized people. Data perception, DT construction, and human-machine interaction (HMI) are the three pillars upon which this system rests, allowing for the full fusion of robot virtual control with actual control. The robot's experimental remote virtual control platform was developed with DT data-driven virtual real synchronization and other functions in mind. With a positional error of less than 40 mm for the home-use robot, the system meets the standards for quality control when building robots for home use. The “remote intelligent control method of a home robot based on DT drive and virtual reality presentation” has been implemented in the “visual test system” and “intelligent robot system” for home use. This is a crucial resource for promoting the advancement of DT, as it provides a novel concept for the “remote intelligent monitoring and control of the equipment of the fully mechanized robot and completely mechanized robot-hand in self-use”.